Yuhang Ming

Hangzhou, China, 310018

I am a Lecturer at the School of Computer Science, Hangzhou Dianzi University. My research interests cover SLAM, RGB-D perception, 3-D vision, scene understanding, etc.

I was previously a Ph.D. student at the Visual Information Laboratory, University of Bristol, supervised by Prof. Andrew Calway and a visiting Ph.D. student at the State Key Lab of CAD&CG, Zhejiang University, supervised by Prof. Guofeng Zhang. I received my M.S. degree from University of California, San Diego, B.S. from University of Missouri - Columbia and B.Eng. from University of Electronic Science and Technology of China.

news

Mar 16, 2025	New paper on NeRF SLAM is accepted to IEEE Robotics and Automation Letters. SLC$^2$-SLAM: Semantic-guided Loop Closure using Shared Latent Code for NeRF SLAM.
Jan 10, 2025	New paper on incremental place recognition is accepted to IEEE Robotics and Automation Letters. VIPeR: Visual Incremental Place Recognition with Adaptive Mining and Continual Learning.
Nov 29, 2024	New survey paper on NeRF applications in autonomous robots accepted to Engineering Applications of Artificial Intelligence. Benchmarking Neural Radiance Fields for Autonomous Robots: An Overview. Free access to our paper is available untill Jan. 15, 2025 via link.
Apr 18, 2024	New paper on indoor place recognition presented at ICASSP 2024. AEGIS-Net: Attention-guided Multi-Level Feature Aggregation for Indoor Place Recognition, arxiv, poster.
Nov 30, 2023	First prize winner of 2023 Zhijiang Cup - Data Data Governance and Innovative Utilization Competition, in collaboration with Hangzhou Emergency Medical Center and Hangzhou Antigravity Intelligent Technology Co Ltd. 2023“之江杯”数据治理与创新利用大赛——数据开放利用赛道一等奖。中文ppt.
Oct 2, 2023	New paper on visual-inertial initialization presented at IROS 2023. EDI: ESKF-based Disjoint Initialization for Visual-Inertial SLAM Systems, arxiv, slides.
Jun 22, 2023	Paper presented at CVPR 2023. poster.
May 29, 2023	Talk given at the Annual Meeting of Zhejiang Medical Doctors Association. 2023年浙江省医师协会院前急救医师分会年会专题讲座《医疗急救无人机的应用探索》。中文PPT.
Jan 23, 2023	Ph.D. thesis is available at Enhancing RGB-D SLAM Using Deep Learning.
Jan 2, 2023	New website online.
Dec 19, 2022	Passed Ph.D. viva with minor corrections . Many thanks to Prof. Stefan Leutenegger and Prof. David Bull for doing the viva.

services

Journal Reivewer: IEEE TPAMI, IEEE TCSVT, IEEE RA-L.

Conference Reviewer: ACM MM (2024), IEEE/RSJ IROS (2024, 2023), BMVC (2024, 2023, 2022, 2019)

selected publications

SLC^2-SLAM: Semantic-guided Loop Closure using Shared Latent Code for NeRF SLAM

Yuhang Ming, Di Ma, Weichen Dai, Han Yang, and 3 more authors

IEEE Robotics and Automation Letters, 2025

arXiv Bib Code

@article{Ming2025slc2slam,
  title = {SLC$^2$-SLAM: Semantic-guided Loop Closure using Shared Latent Code for NeRF SLAM},
  journal = {IEEE Robotics and Automation Letters},
  author = {Ming, Yuhang and Ma, Di and Dai, Weichen and Yang, Han and Fan, Rui and Zhang, Guofeng and Kong, Wanzeng},
  year = {2025},
  volume = {0},
  number = {0},
  pages = {0},
}

VIPeR: Visual Incremental Place Recognition with Adaptive Mining and Continual Learning

Yuhang Ming, Minyang Xu, Xingrui Yang, Weicai Ye, and 4 more authors

IEEE Robotics and Automation Letters, 2025

arXiv Bib Code Website

@article{Ming2025VIPeR,
  title = {VIPeR: Visual Incremental Place Recognition with Adaptive Mining and Continual Learning},
  journal = {IEEE Robotics and Automation Letters},
  author = {Ming, Yuhang and Xu, Minyang and Yang, Xingrui and Ye, Weicai and Wang, Weihan and Peng, Yong and Dai, Weichen and Kong, Wanzeng},
  year = {2025},
  volume = {10},
  number = {3},
  pages = {3038-3045},
}

Benchmarking neural radiance fields for autonomous robots: An overview

Yuhang Ming, Xingrui Yang, Weihan Wang, Zheng Chen, and 3 more authors

Engineering Applications of Artificial Intelligence, 2025

arXiv Bib

@article{Ming2025survey,
  title = {Benchmarking neural radiance fields for autonomous robots: An overview},
  journal = {Engineering Applications of Artificial Intelligence},
  volume = {140},
  pages = {109685},
  year = {2025},
  issn = {0952-1976},
  doi = {https://doi.org/10.1016/j.engappai.2024.109685},
  url = {https://www.sciencedirect.com/science/article/pii/S0952197624018438},
  author = {Ming, Yuhang and Yang, Xingrui and Wang, Weihan and Chen, Zheng and Feng, Jinglun and Xing, Yifan and Zhang, Guofeng},
}

AEGIS-Net: Attention-guided Multi-Level Feature Aggregation for Indoor Place Recognition

Yuhang Ming, Jian Ma, Xingrui Yang, Weichen Dai, and 2 more authors

In 2024 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2024

arXiv Bib Code

@inproceedings{Ming2023aegisnet,
  author = {Ming, Yuhang and Ma, Jian and Yang, Xingrui and Dai, Weichen and Peng, Yong and Kong, Wanzeng},
  booktitle = {2024 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)},
  title = {AEGIS-Net: Attention-guided Multi-Level Feature Aggregation for Indoor Place Recognition},
  year = {2024},
}

Object-Augmented RGB-D SLAM for Wide-Disparity Relocalisation

Yuhang Ming, Xingrui Yang, and Andrew Calway

In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

arXiv Bib Code

@inproceedings{Ming2021objreloc,
  author = {Ming, Yuhang and Yang, Xingrui and Calway, Andrew},
  booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title = {Object-Augmented RGB-D SLAM for Wide-Disparity Relocalisation},
  year = {2021},
  pages = {2203-2209},
  doi = {10.1109/IROS51168.2021.9636034},
}